JP2020059315A - Flying body with expansion device of parachute or paraglider - Google Patents

Abstract

To provide an expansion device of parachutes capable of performing ejection and expansion of the parachutes easily and accurately more than before, and provide a flying body with this expansion device.SOLUTION: An expansion device 90 includes an actuator 88 and a parachute or paraglider 86. The actuator 88 includes: a gas generator 84 having a cup-shaped case 85 for storing an ignition charge; a piston 81 having a recess 82 and a piston head 83 formed integrally with the recess 82; and a cylindrical bottomed housing 80 for storing the piston 81 and regulating the propulsive direction of the piston 81. The parachute or paraglider 86 is connected to the flying body 100 or a device attached to the flying body 100 by a string-like member while being arranged on the piston head 83 and housed. A communication part 51 is formed between an inner wall of the housing 80 and an outer circumferential part of the piston head 83.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an air vehicle provided with a parachute or paraglider deployment device.

  In recent years, along with the development of autonomous control technology and flight control technology, industrial use of an aircraft including a plurality of rotors called a drone is accelerating. A drone flies, for example, by simultaneously rotating a plurality of rotor blades in a well-balanced manner, ascending and descending by increasing / decreasing the rotational speed of the rotor blades, and moving forward and backward inclining the aircraft through increasing / decreasing the rotational speed of the rotor blades It can be done by Such aircraft are expected to expand worldwide in the future.

  On the other hand, the risk of the above-mentioned accident of dropping the flying body is regarded as dangerous, which hinders the spread of the flying body. In order to reduce the risk of such a fall accident, a parachute or paraglider deployment device, an airbag device, and the like are being commercialized as safety devices. For example, in Patent Document 1, a repulsive force of a spring is used to operate a piston portion in a cylinder, and the operation of the piston portion ejects a canopy (cloth portion of a paraglider) from an opening portion to open an umbrella. A paraglider deploying device and an unmanned aerial vehicle (aircraft) equipped with this deploying device are disclosed.

JP, 2018-43467, A

  In the technique of the above patent document, in order to deploy the canopy quickly, it is desired to further shorten the canopy injection time.

  Therefore, it is an object of the present invention to provide an air vehicle equipped with a parachute or paraglider deploying device in which the ejection time of an object such as a canopy is shortened more than in the past.

(1) An aircraft of the present invention includes an aircraft body and a parachute or paraglider deployment device installed on the aircraft body, the deployment device including a parachute umbrella portion or canopy, and a steering portion. A connecting member that connects the parachute umbrella portion or the canopy to the steering portion, a storage portion that holds the parachute umbrella portion or the canopy in a closed state, and a storage member that is provided in the storage portion, and from the storage portion A parachute umbrella portion or a drive source that generates a driving force for ejecting the canopy, and the parachute umbrella portion or the canopy is placed on the ejection direction side, and the parachute umbrella portion or the canopy is driven by the drive force of the drive source. And an injection section having a moving member that is moved in the injection direction of the drive source, The driving force that can be applied per 1 g of the mass of the chute umbrella portion or the canopy and the moving member is 0.1 N or more, and the injection portion is the time from the actuation until the parachute umbrella portion or the canopy is ejected. Is within 1 second. It should be noted that "the time from the actuation to the ejection of the parachute umbrella or the canopy" means the actuation of the drive source (for example, when a drive source such as a control unit is provided, the drive source is activated from the drive source). It is the time from the moment when the signal to send to the drive source is sent) to the time when the parachute umbrella part or canopy (excluding the line) is completely ejected from the container (ejected). .

(2) It is preferable that, in the ejection unit of the aircraft of (1), the time from the activation of the ejection unit to the ejection of the parachute umbrella portion or the canopy is within 0.6 seconds.

(3) In the projecting part of the aircraft of (1) or (2) above, the time from when the projecting part is activated until the parachute umbrella part or the canopy is projected is within 0.3 seconds. Is more preferable.

(4) The ejection part in the aircraft of (1) to (3) above is a gas generator capable of generating a gas used as a radiation output for ejecting the parachute umbrella part or the canopy, or the parachute umbrella part. Alternatively, it is preferable to provide an elastic body used as a radiation output for ejecting the canopy.

  According to the present invention, it is possible to provide an air vehicle equipped with a parachute or paraglider deploying device that shortens the ejection time of a propellant such as a canopy as compared with the related art. In particular, the present invention is suitable for an aircraft such as a relatively large drone.

FIG. 1 is a diagram showing an example of a flying body to which a parachute or paraglider deploying device according to a first embodiment of the present invention is applied. It is a sectional view showing a deployment device of a parachute or a paraglider concerning one embodiment of the present invention. It is a block diagram which shows the functional structure of the expansion device provided in the expansion device of FIG. It is a figure which shows an example of the air vehicle to which the deployment apparatus of the paraglider which concerns on 2nd Embodiment of this invention is applied. It is a block diagram which shows the functional structure of the expansion device provided in the expansion device of FIG.

(First embodiment)
Hereinafter, a flying vehicle to which the parachute or paraglider deploying device according to the first embodiment of the present invention is applied will be described with reference to the drawings.

  FIG. 1 is a diagram showing an example of a flying body to which a parachute or paraglider deploying device 90 is applied. As shown in FIG. 1, an air vehicle 100 is provided in the lower part of the airframe 1 and one or more propulsion mechanisms (for example, propellers) 2 that are coupled to the airframe 1 to propel the airframe 1. It includes a plurality of legs 3 and a parachute or paraglider deployment device 90. The parachute or paraglider deploying device 90 is provided on the body 1.

  In FIG. 2, which shows an example of a parachute or paraglider deployment device 90, a parachute deployment device will be described as an example.

  As shown in FIG. 2, the parachute or paraglider deploying device 90 includes an actuator 88 and a parachute or paraglider 86. The actuator 88 includes a gas generator 84 having a cup-shaped case 85 for containing an ignition charge (not shown), a concave portion (concave member) 82, and a piston head 83 (launch pad) integrally formed with the concave portion 82. A piston 81 (moving member) having a bottom, and a bottomed cylindrical housing 80 (storage portion) that houses the piston 81 and restricts the propelling direction of the piston 81. The parachute or paraglider 86 is connected to and accommodated in the flying body 100 or a device attached to the flying body 100 by a connecting member (not shown) such as a string-shaped member in a state of being arranged on the piston head 83.

  Further, as shown in FIG. 2, a communication portion 51, which is a clearance, is formed between the inner wall of the housing 80 and the outer peripheral portion of the piston head 83. When the piston 81 moves (injects in the direction of the arrow in FIG. 2), the space S between the inner wall of the housing 80 and the piston head 83 has a negative pressure, but the space S is filled with air from the communicating portion 51. Since it flows in, the negative pressure at this time can be reduced and the movement of the piston 81 can be made smooth.

  The gas generator 84 is provided in the recess 82. A gas outlet is provided at the tip of the gas generator 84, and a gas serving as a propulsive force for ejecting the piston 81 in the direction of the arrow in FIG. it can. Further, a seal member 89 such as an O-ring is provided between the concave portion 82 and the outer wall portion of the gas generator 84 to prevent gas leakage during operation.

  In such a structure, the parachute or paraglider 86 can be directly pushed out and expanded by the thrust of the piston 81. The opening end of the housing 80 is closed by a lid 87 in the initial state, and can be removed from the opening end by pushing out the parachute or the paraglider 86.

  Further, the parachute or paraglider deployment device 90 includes an abnormality detection device 40 (not shown in FIG. 2) including an acceleration sensor and the like for detecting abnormality of the flying object.

  In such a configuration, when the abnormality detecting device 40 detects an abnormality, the piston 81 is propelled by the gas pressure generated based on the ignition operation of the gas generator 84. As a result, the parachute or paraglider 86 can be directly pushed out and expanded by the propulsive force of the piston 81.

  Here, the functional configuration of the abnormality detection device 40 will be described. As shown in FIG. 3, the abnormality detection device 40 includes a sensor (detection unit) 11, a storage unit 12, and a control unit (computer having CPU, ROM, RAM, etc.) 20, and the expansion device 90. Of the gas generator 84 is electrically connected to an igniter (not shown).

  The sensor 11 detects the position of the flying object 100, generates position information (including altitude information) of the flying object 100, and transmits the position information to the storage unit 12. Specifically, the sensor 11 is, for example, one or more selected from a GPS (Global Positioning System), an acceleration sensor, a gyro sensor, an atmospheric pressure sensor, an ultrasonic sensor, and the like. , Tilt, altitude, position, direction, presence / absence of nearby objects, and the like, data of the flight state of the flying object 100, data of the external environment, and the like can be acquired.

  The storage unit 12 stores 3D map data 12a created in advance based on position information (including information on the shape and altitude (height) of the terrain and buildings) that actually exists in a predetermined area. ing. The storage unit 12 also stores the position information of the flying object 100 transmitted from the sensor 11. It should be noted that the 3D map data may be appropriately updated by receiving only within a predetermined range from the current position of the flying object 100 every time a fixed time period or a fixed distance is moved. As a result, the storage capacity of the storage unit 12 can be made relatively small, so that the storage unit 12 can be made lightweight.

  The control unit 20 includes an abnormality detection unit 21, a prediction unit 22, an operation timing unit 23, and a notification unit 24 as a functional configuration. The abnormality detection unit 21, the prediction unit 22, the operation timing unit 23, and the notification unit 24 are functionally realized by the control unit 20 executing a predetermined program.

  The abnormality detection unit 21 not only detects the abnormal state of the sensor 11, but also detects the flight state of the flying object 100 (whether it is in an abnormal state such as falling or collision during flight). That is, the abnormality detection unit 21 detects whether or not the flying object 100 is in an abnormal operation (whether or not it can operate normally).

  When the abnormality detection unit 21 detects an operation abnormality during the flight of the air vehicle 100, the prediction unit 22 acquires the position information of the topography and the building in the 3D map data 12a read from the storage unit 12 and the air vehicle acquired by the sensor 11. The distance to the collision or landing, or the time to the collision or landing is predicted (calculated) based on the position information of 100 and the information of the moving direction and the velocity, and the topography and the collision timing between the building and the air vehicle 100, or , To predict (calculate) the landing timing of the air vehicle 100 on the land. The prediction unit 22 transmits the prediction timing signal to the operation timing unit 23 after predicting the collision timing or the landing timing.

  In addition, the prediction unit 22 compares the altitude information in the 3D map data with the altitude information obtained by the sensor 11 and corrects the zero point so that there is no data shift in the initial state.

  The operation timing unit 23 controls the operation timing (deployment timing) of the parachute or paraglider 86 so that the parachute or paraglider 86 deploys a predetermined time before the collision timing or the landing timing. That is, the operation signal is transmitted to the igniter in the gas generator 84 of the expansion device 90 after a predetermined time has elapsed after receiving the prediction timing signal from the prediction unit 22. Here, “after a predetermined time” means, for example, immediately before the collision timing or the landing timing (for example, 10 seconds before, etc., the setting can be appropriately changed).

  When a time approaches the collision timing or the landing timing, the operation timing unit 23 determines that the aircraft 100 is based on the information on the actual distance to the obstacle, the person, or the land surface obtained from the sensor 11. The distance to the collision with the obstacle, the person or the like or the land surface (hereinafter, collision distance) may be determined to be within a predetermined distance. Here, when the operation timing unit 23 determines that the collision distance is within the predetermined distance, the operation timing unit 23 transmits an operation signal to the igniter in the gas generator 84 of the expansion device 90. The "within a predetermined distance" means, for example, a distance to a position corresponding to the collision timing or the landing timing (for example, when the collision distance is 20 m (preferably about 3 m to 10 m)). Then, the setting can be changed appropriately). Here, when an ultrasonic sensor is used as the sensor 11, "within a predetermined distance" can be set within 6 m.

  When the abnormality detecting unit 21 detects an abnormality, the notifying unit 24 notifies the administrator or the like of the fact that the abnormality is detected.

  Although not shown, the gas generator 84 is small and lightweight, and includes a cup body filled with a gas generating agent, an igniter for igniting the gas generating agent, and a holder for holding the igniter. Is. The gas generator 84 may be, for example, a micro gas generator, but may be any device as long as it can generate a gas having a pressure of 0.1 MPa (1 atm) or more. Further, the gas generating agent is a chemical (explosive or propellant) that is ignited by heat particles generated by the operation of the igniter and generates gas by burning.

  In general, gas generators can be roughly classified into non-explosive type and explosive type. The non-explosive type mainstream is to connect a sharpened member such as a needle and a compressed spring to a gas cylinder filled with gas such as carbon dioxide or nitrogen, and use the spring force to fly the sharpened member and seal the cylinder. The gas is released by colliding with the sealing plate that is operating. At this time, a drive source such as a servo motor is usually used to release the compression force of the spring. Next, in the case of the explosive type, the igniter alone may be used, or the igniter and the gas generating agent may be provided. Alternatively, a hybrid-type or stored-type gas generator may be used in which the sealing plate of a small-sized gas cylinder is cleaved by the force of the explosive to discharge the internal gas to the outside. In this case, the pressurized gas in the gas cylinder is selected from at least one noncombustible gas such as argon, helium, nitrogen and carbon dioxide. Further, the gas generator may be provided with an explosive-type heating element in order to surely expand the pressurized gas when it is released. Further, the gas generator may be provided with a filter or / and an orifice for adjusting the gas flow rate as required.

  As the gas generating agent, a non-azide type gas generating agent is preferably used, and the gas generating agent is generally formed as a molded body containing a fuel, an oxidizing agent and an additive. As the fuel, for example, a triazole derivative, a tetrazole derivative, a guanidine derivative, an azodicarbonamide derivative, a hydrazine derivative, or the like, or a combination thereof is used. Specifically, for example, nitroguanidine, guanidine nitrate, cyanoguanidine, 5-aminotetrazole and the like are preferably used. Examples of the oxidizing agent include basic nitrates such as basic copper nitrate, ammonium perchlorate, perchlorates such as potassium perchlorate, and alkali metals, alkaline earth metals, transition metals, and ammonia. A nitrate containing a cation is used. As the nitrate, for example, sodium nitrate, potassium nitrate and the like are preferably used. Further, examples of the additive include a binder, a slag forming agent, a combustion modifier, and the like. As the binder, for example, a metal salt of carboxymethyl cellulose, an organic binder such as stearate, or an inorganic binder such as synthetic hydroxytalcite and acid clay can be preferably used. As the slag forming agent, silicon nitride, silica, acid clay and the like can be preferably used. Further, as the combustion modifier, metal oxide, ferrosilicon, activated carbon, graphite and the like can be preferably used. Further, single base explosive, double base explosive and triple base explosive containing nitrocellulose as a main component may be used.

  Further, the shape of the molded body of the gas generating agent includes various shapes such as a granular shape such as a granular shape, a pellet shape and a cylindrical shape, and a disk shape. In addition, as the columnar one, a perforated molded body having a through hole inside the molded body (for example, a single-hole cylindrical shape or a perforated cylindrical shape) is also used. Further, in addition to the shape of the gas generating agent, it is preferable to appropriately select the size and the filling amount of the molded body in consideration of the linear burning rate of the gas generating agent, the pressure index and the like.

  The deploying device 90 having the above-described configuration has a predetermined shot obtained by utilizing the gas pressure of the gas generator 84 to the parachute or paraglider 86 in the ejection direction of the parachute or paraglider 86 (the arrow direction in FIG. 2). The output can be transmitted. It should be noted that, for example, when the weight (mass) of the parachute or paraglider 86 is about 1 kg to 2 kg, the ejection output is adjusted to be 100 N or more. Further, the time from the operation of the deployment device 90 to the ejection of the parachute or paraglider 86 from the housing 80 is within 1 second.

  Further, when the weight (mass) of the parachute or paraglider 86 exceeds 2 kg, it is preferable that the ejection power is 1000 N or more. At this time, the time from the actuation of the deployment device 90 to the ejection of the parachute or paraglider 86 from the housing 80 is within 0.6 s.

  In addition, in order to increase the ejection speed of the parachute or paraglider 86, or in accordance with the size and weight of the parachute or paraglider 86, the ejection output may be set to 10 kN or more. At this time, the time from the operation of the deployment device 90 to the ejection of the parachute or paraglider 86 from the housing 80 is within 0.3 s.

  Then, operation | movement of the abnormality detection apparatus 40 of this embodiment is demonstrated.

  First, the abnormality detection of the sensor 11 by the abnormality detection unit 21 is performed. Specifically, the abnormality detection unit 21 tests whether or not an acceleration sensor or the like that measures the acceleration of the flying object operates normally.

  When it is determined that there is an abnormality as a result of the above inspection, the abnormality detection unit 21 notifies the administrator or the like of an error and ends the processing. On the other hand, when it is determined that there is no abnormality in the sensor 11 as a result of the above inspection, the prediction unit 22 reads each data actually measured by the sensor 11 and the 3D map data 12a.

  Then, when the abnormal state of the flying object 100 in flight is detected, the abnormality detection unit 21 transmits an abnormality signal to the prediction unit. The prediction unit 22 that has received the abnormal signal determines the terrain and the building based on the position information of the terrain and the building in the 3D map data 12a read from the storage unit 12 and the position information of the air vehicle 100 obtained by the sensor 11. The collision timing with the flying object 100 or the landing timing of the flying object 100 on the land is predicted.

  Next, when predicting the collision timing or the landing timing, the prediction unit 22 transmits a prediction timing signal to the operation timing unit. The operation timing unit 23 that has received the predicted timing signal controls the operation timing (deployment timing) of the parachute or paraglider 86 so that the parachute or paraglider 86 deploys at a predetermined time before the collision timing or the landing timing. That is, the actuation timing unit 23 transmits the actuation signal to the igniter in the gas generator 84 of the expansion device 90 after a predetermined time period after receiving the timing signal from the prediction unit 22.

  Then, the deployment device 90 for the parachute or paraglider that has received the operation signal is activated, and the parachute or paraglider 86 is ejected at a predetermined firing output to be deployed, and the process ends. At this time, the aircraft 100 to which the deploying device 90 is attached collides with an obstacle or lands on land in a state where the impact is buffered.

  According to the present embodiment, the deploying device 90 including the ejection portion can be made smaller and more compact than the case where a spring is used. Therefore, it is possible to provide the flying body 100 including the deployment device 90 for the parachute or paraglider 86, which can easily eject the parachute or paraglider 86 without using a spring and can be reduced in weight more easily than when a spring is used. Further, according to the present embodiment, even if the flying body becomes large and a larger ejection force is required, since the gas generator is used, a sufficient ejection force can be obtained without making the expansion device 90 heavy. be able to. In particular, when the explosive gas generator is used, it is possible to prevent the expansion device 90 from becoming heavy.

  Further, it is possible to predict the collision timing or the landing timing, and immediately before the collision timing or the landing timing, operate the deployment device 90 of the parachute or paraglider with high accuracy. For example, it is possible to operate the parachute or paraglider deploying device 90 in the vicinity of the destination by predicting that the air vehicle 100 to which the parachute or paraglider deploying device 90 is attached has arrived near the destination. it can. Therefore, the parachute or paraglider deploying device 90 can operate efficiently up to an emergency even though the number of devices to be attached to the flying body 100 is smaller than in the past. This makes it possible to protect obstacles and mounted objects, especially pedestrians, at an appropriate timing when dropped.

  Further, according to the present embodiment, the distance to the collision or landing of the air vehicle 100 from the position information of the terrain and the building in the 3D map data, the current position information of the air vehicle, and the information of the moving direction and the velocity, or The time to collision or landing can be accurately predicted (calculated). As a result, the operation timing unit 23 does not operate until this prediction is made. That is, when the appropriate timing is predicted, the expansion device 90 can be activated at the appropriate timing.

  Further, since the gas generator 84 that operates by an electric signal and generates gas is used as an operating unit for deploying the parachute or paraglider, the operation timing can be easily controlled. In particular, since the gas generator 84 is an explosive gas generator, it is possible to instantaneously obtain the propulsive force for moving the piston 81.

(Second embodiment)
Hereinafter, a flying body to which a deployment device (an example of an impact buffer) of a paraglider (an example of an impact buffer) according to the second embodiment of the present invention is applied will be described with reference to the drawings. It should be noted that components having the same last two digits as those in the first embodiment are the same parts unless otherwise specified, and thus description thereof may be omitted.

  As shown in FIG. 4, the aircraft 200 is provided under the airframe 101, one or more propulsion mechanisms (eg, propellers) 102 coupled to the airframe 101 for propelling the airframe 101. And a plurality of legs 103 and a paraglider deploying device 190.

  The deployment device 190 of the paraglider is almost the same as the deployment device 90 of the first embodiment, but as shown in FIGS. 4 and 5, mainly, the paraglider 186, the break cord 131 (coupling member), and the breaker. The difference is that the cord tensioning device 132 is provided. The paraglider 186 and the break cord 131 of the paraglider deploying device 190 in the normal time (before deployment) are folded and housed in the cylindrical housing 180, and are stored by the control unit 120 of the aircraft 200 in an emergency. The gas generator 184 (see FIG. 5) which has received a predetermined signal is ejected from the inside of the housing 180 to the outside, and then is developed and used as shown in FIG.

  In FIG. 4, the paraglider 186 includes a canopy 186a that forms a wing shape by enclosing air, and a plurality of hanging ropes 186b that extend downward from the canopy 186a and are connected to the air vehicle 200. .

  As shown in FIG. 4, the canopy 186a is formed so as to spread in a substantially arc shape in the left-right direction above the aircraft 200 when the paraglider 186 is viewed from the front. In addition, the suspended ropes 186b are extended from the canopy 186a to the aircraft 200 so that four hanging ropes 186b are bilaterally symmetrical.

  The pair of left and right break cords 131 are used to control the aircraft 200, and one end of the break cord 131 is provided symmetrically with four branches at the rear end edge portion of the canopy 186a, and one of the other end is provided. Each is connected to each break cord tensioning device 132 described below. A pair of break cord pulling devices 132 are provided so as to correspond to the left and right break cords 131.

  In an aircraft 200 deployed by the paragliding deployment device 190 in an emergency, the left and right break cords 131 are operated to deform the canopy 186a to change the received wind pressure resistance, thereby performing turning, ascent, or descent maneuvers. It is supposed to be. For example, when the air vehicle 200 is turned to the right, the right break code 131 is pulled to increase the resistance on the right side of the canopy 186a, so that the right speed of the canopy 186a is reduced to change the direction. When landing the aircraft 200, the left and right break cords 131 are pulled to increase the resistance of the entire canopy 186a, so that the descent speed is reduced and landing is performed. The pulling operation of the break code 131 means that when the break code pulling device 132 receives an operation signal related to the break code pulling device 132 from the operation timing portion 123, the break code 131 is pulled by using a motor and a reel. An operation that involves pulling or winding.

  Next, the operation of the abnormality detection device 140 of this embodiment will be described. The operation of the abnormality detection device 140 of the present embodiment is almost the same as that of the abnormality detection device 40 of the first embodiment, but is different in the following points.

  When the prediction unit 122 that receives the abnormality signal from the abnormality detection unit 121 predicts the collision timing or the landing timing, the prediction timing signal is transmitted to the operation timing unit. The operation timing unit 123 that receives the predicted timing signal not only controls the operation timing (deployment timing) of the paraglider 186 so that the paraglider 186 deploys at a predetermined time before the collision timing or the landing timing, but also breaks the paraglider 186. The operation timing of the cord tension device 132 is controlled. That is, the actuation timing unit 123 transmits the actuation signal to the motor of the break cord pulling device 132 a predetermined time after receiving the timing signal from the prediction unit 122. The break cord pulling device 132 that has received the operation signal performs an operation such as winding the break cord 131 on a reel. As a result, immediately before landing, the wind pressure resistance of the entire canopy 186a of the deployed paraglider 186 is increased to reduce the descending speed of the aircraft 200 and land.

  According to the present embodiment, not only the same effect as the first embodiment can be obtained, but also the timing for suppressing the falling speed of the flying object 200 can be controlled. For example, the falling speed of the flying object 200 can be suppressed in synchronization with the timing immediately before the collision of the flying object 200 or immediately before landing. In particular, when each device is operated near a building or the ground, even if there is a collision with trees, obstacles such as cars, animals such as people, which are not in the 3D map data, the collision can be further buffered. it can.

  Although the embodiments of the present invention have been described above with reference to the drawings, it should be considered that the specific configurations are not limited to these embodiments. The scope of the present invention is shown not by the above description of the embodiments but by the scope of the claims, and further includes meanings equivalent to the scope of the claims and all modifications within the scope.

  Further, in the above-described embodiments and the like, the abnormality detection unit, the prediction unit, the operation timing unit, and the notification unit are functionally realized by software, but the invention is not limited to this, and is configured by hardware. Good.

  Further, although the explosive type gas generator has been mainly shown as the gas generator, other types of gas generators such as the cylinder type may be used.

  Further, an elastic body such as a spring or rubber may be used as a drive source of the expansion device that generates a radiation output instead of the gas generator. The elastic body at this time is selected to be one capable of generating a radiation output similar to that of the gas generator. For example, a spring (model number: F7414) manufactured by MISUMI Group Inc. can be appropriately adjusted and used.

  Further, in the second embodiment, the break cord pulling device 132 is provided inside the housing 180, but instead of this, for example, the break cord pulling device 132 may be provided on the outer wall of the housing 180. However, the break cord 131 may not be caught on the propulsion mechanism 102 and may be provided on the airframe 101.

  Further, in each of the above embodiments, the aircraft has a function of predicting the collision timing or the landing timing using the 3D map data, but the present invention is not limited to this. For example, instead of the aircraft of each of the above embodiments, even if the injection unit in each of the above embodiments is applied to an aircraft that does not have the predicting function and is operated by an operator while checking with his / her own eyes. Good.

(Example)
A deploying device having the same configuration as the deploying device 90 in the first embodiment is created, and the time for completing the injection of the parachute (the time until the parachute leaves the housing (hereinafter, injection completion time)) and the maximum of the gas generator The relationship with the injection power was investigated. In the deploying device according to the present embodiment, when injecting a parachute (including a line), the gas generator needs an ejection force for pushing up the parachute and the piston. Taking this point into consideration, the relationship between the injection completion time of the parachute and the maximum injection output of the gas generator was investigated.

  In the present embodiment, the weight (mass) of the parachute (manufactured by X-dream Fly, trade name: X triangle 125) is determined by combining the connecting member (line) with the injection device (1450 g) and the piston (stroke 60 mm, piston). The weight (mass) of the diameter 11 mm) was 47 g. For the gas generator, an explosive containing a perchlorate salt with a dose of 420 mg was used.

  First, when the deployment device having the above-described configuration was operated to investigate the relationship between the injection completion time y of the parachute and the reciprocal of the maximum emission output of the gas generator, x, y = 353.75x + 0. It was found to be in the state of the relational expression (1) of 0233.

  Therefore, the emission output (1 / x) of the gas generator required to complete the injection of the parachute within 1 second can be obtained by substituting y = 1 into the above relational expression. That is, it can be seen that the emission output (1 / x) of the gas generator required to complete the injection within 1 second for the parachute is about 344N.

  Further, in order to complete the injection of the parachute within 0.6 seconds, it can be seen from the above relational expression (1) that it is about 613 N, as in the above case.

  Further, in order to complete the injection of the parachute within 0.3 seconds, it can be seen from the above relational expression that it is about 1278 N, as in the above case.

  Therefore, it has been found that the relational expression (1) is used to appropriately select the output of the gas generator in accordance with the time at which the injection of the parachute is desired to be completed. As a result, it has been proved that it is possible to surely obtain an air vehicle equipped with a parachute or paraglider deploying device in which the ejection time of a projectile such as a canopy is shortened more than ever before.

  In addition, in the above-mentioned embodiment, the emission power was investigated when the drive source was a gas generator, but other drive sources (springs, elastic bodies such as rubber) having the same emission output as each gas generator were used. You may use it suitably.

1, 101 Airframe 2, 102 Propulsion mechanism 3, 203 Legs 20, 120 Control unit 21, 121 Abnormality detection unit 22, 122 Prediction unit 23, 123 Operation timing unit 24, 124 Notification unit 80, 180 Housing 81 Piston 82 Recessed portion 83 Piston head 84 Gas generator 85 Case 86 Parachute or paraglider 87 Lid 88 Actuator 89 Sealing member 90, 190 Parachute or paraglider deployment device 100, 200 Aircraft body 131 Break code 132 Break code tension device 186 Paraglider 186a Canopy 186b Suspended rope

Claims (4)

With the flying body,
And a parachute or paraglider deployment device installed on the aircraft body,
The deployment device is
Parachute umbrella or canopy,
Steering section,
A connecting member that connects the parachute umbrella portion or the canopy and the steering portion,
A storage part for holding the parachute umbrella part or the canopy in a closed state,
A drive source that is provided in the storage unit and that generates a driving force for ejecting the parachute umbrella portion or the canopy from the storage portion, and the parachute umbrella portion or the canopy is placed on the ejection direction side and the drive is performed. An injection unit having a moving member that is moved in the emission direction of the parachute umbrella portion or the canopy by a driving force of a source,
The driving source has a driving force of 0.1 N or more per 1 g of mass of the parachute umbrella portion or the canopy and the moving member,
The aircraft according to claim 1, wherein the ejecting unit has a time of 1 second or less from the actuation to ejecting the parachute umbrella portion or the canopy.   The aircraft according to claim 1, wherein the injection unit has a time period of 0.6 seconds or less after being activated until the parachute umbrella unit or the canopy is ejected.   The aircraft according to claim 1, wherein the injection unit has a time period of 0.3 seconds or less from activation to injection of the parachute umbrella portion or the canopy.   The injection unit is a gas generator capable of generating a gas used as a radiation output for ejecting the parachute umbrella portion or the canopy, or an elastic body used as a radiation output for ejecting the parachute umbrella portion or the canopy, The aircraft according to any one of claims 1 to 3, further comprising:

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